Publications

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Journal Articles

M. Naveau, M. Kudruss, O. Stasse, C. Kirches, K. Mombaur and P. Souères – A Reactive Walking Pattern Generator Based on Nonlinear Model Predictive Control, IEEE, IEEE Robotics and Automation Letters, vol. 2, no. 1, 10-27, Jan, 2017
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C. Vassallo, A. Olivier, P. Souères, A. Cretual, O. Stasse and J. Pettre – How do walkers avoid a mobile robot crossing their way?, Gait and Posture, no. 51, 97-103, 2017
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W. Caarls and E. Schuitema – Parallel Online Temporal Difference Learning for Motor Control, IEEE, IEEE Transactions on Neural Networks and Learning Systems, vol. 27, no. 7, 1457-1468, Jul, 2016
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V. Caggiano, F. Fleischer, J.K. Pomper, M.A. Giese and P. Thier – Mirror Neurons in Monkey Premotor Area F5 Show Tuning for Critical Features of Visual Causality Perception, CellPress, Current Biology, 31192-7, Nov, 2016
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E. Chiovetto, A. d’ Avella and M. A. Giese – A unifying framework for the identification of motor primitives, Cornell University, arXiv, Mar, 2016
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D. Clever, M. Harant, K. H. Koch, K. Mombaur and D. M. Endres – A novel approach for the generation of complex humanoid walking sequences based on a combination of optimal control and learning of movement primitives, Elsevier, Robotics and Autonomous Systems, vol. 83, 287-298, Sep, 2016
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A. Del Prete and N. Mansard – Robustness to Joint-Torque Tracking Errors in Task-Space Inverse Dynamics, IEEE, IEEE Transactions on Robotics, vol. 32, no. 5, 1091-1105, Oct, 2016
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A. Escande – Fast closest logarithm algorithm in the special orthogonal group, Oxford University Press, IMA Journal of Numerical Analysis, vol. 36, no. 2, 675-687, Apr, 2016
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M. L. Felis – RBDL – an Efficient Rigid-Body Dynamics Library using Recursive Algorithms, Springer, Autonomous Robots, 1-17, Jun, 2016
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T. Flash and E. Bizzi – Cortical circuits and modules in movement generation: experiments and theories, Elsevier, Current opinion in neurobiology, vol. 41, 174-178, Dec, 2016
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M.A. Giese – Face Recognition: Canonical Mechanisms at Multiple Timescales, Elsevier, Current Biology, vol. 26, no. 13, 1669-1676, Jul, 2016
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M. Kudruss, I. Koryakovskiy, W. Caarls, R. Babuska, C. Kirches, K. Mombaur, J.P. Schlöder and H. Vallery – Benchmarking model-free and model-based optimal control, Elsevier, SI: Towards truly human-like bipedal locomotion: the role of optimization, learning and motor primitives, Robotics and Autonomous Systems, vol. SI, 11, Nov, 2016
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D. Kulic, G. Venture, K. Yamane, E. Demircan, I. Mizuuchi and K. Mombaur – Movement Science for humans and humanoids: A survey of methods and applications, IEEE Transactions on Robotics, 2016
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C. Mandery, Ö. Terlemez, M. Do, N. Vahrenkamp and T. Asfour – Unifying Representations and Large-Scale Whole-Body Motion Databases for Studying Human Motion, IEEE, IEEE Transactions on Robotics, vol. 32, no. 4, 796-809, Aug, 2016
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Y. Meirovitch, D. Bennequin and T. Flash – Geometrical Invariance and Smoothness Maximization for Task-Space Movement Generation, IEEE Transactions on Robotics, vol. 32, no. 4, 83-853, Aug, 2016
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C. Paiman, D. Lemus, D. Short and H. Vallery – Observing the State of Balance with a Single Upper-Body Sensor, frontiers, frontiers in Robotics & AI, vol. 3, 1-11, Apr, 2016
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M. Plappert, C. Mandery and T. Asfour – The KIT Motion-Language Dataset, Mary Ann Liebert, Inc., Big Data, 2016
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J. M. Spencer, A. B. Sekuler, P. J. Bennett, M. A. Giese and K. S. Pilz – Effects of aging on discriminating emotions from point-light walkers, APA, Psychol Aging, vol. 31, 126-138, Feb, 2016
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A. Mukovskiy, C. Vassallo, M. Naveau, O. Stasse, P. Souères and M. A. Giese – Adaptive synthesis of dynamically feasible full-body movements for the humanoid robot HRP-2 by flexible combination of learned dynamic movement primitives, Elsevier, Robotics and Autonomous Systems, 2016, under revision
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Y. Hu and K. Mombaur – Influence of compliance modulation on human locomotion, IEEE Robotics and Automation Letters (RA-L), 2016, submitted
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D.* Kohen, M.* Karklinsky, Y. Meirovitch, T. Flash and L. Shmuelof – Planning beyond preparation time: on the fly motor planning of intentionally curved movements, In Submission, 2016, submitted
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G. De Magistris*, A. Pajon*, S. Miossec and A. Kheddar – Optimized humanoid walking with compliant soles, Springer, Robotics and Autonomous Systems, vol. SI, 2016, submitted and under revision
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G. De Magistris, S. Miossec, A. Escande and A. Kheddar – Design of optimized compliant soles for humanoid robots, Springer, Robotics and Autonomous Systems, vol. SI, no. 27, 14, Feb, 2016, submitted and under revision
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E. Chiovetto, A. d’ Avella and M. A. Giese – A unifying framework for the identification of kinematic end electromyographic motor primitives, Public Library of Science, Plos One, 2016, submitted and under review
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M. Karklinsky, I. Sella and Flash T. – The internal timing of complex movements indicates a global movement plan, In preparation, 2016, in preparation
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M. Benallegue and F. Lamiraux – Estimation and stabilization of humanoid flexibility deformation using only inertial measurement unit and contact information, International Journal of Humanoid Robotics (IJHR), vol. 12, no. 3, Sep, 2015
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A. Del Prete, N. Mansard, O. Ramos, O. Stasse and F. Nori – Implementing Torque Control with High-Ratio Gear Boxes and without Joint-Torque Sensors, World Scientific, International Journal of Humanoid Robotics (IJHR), vol. 13, no. 1, Nov, 2015
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A. Del Prete, F. Nori, G. Metta and Natale L. – Prioritized motion–force control of constrained fully-actuated robots: “Task Space Inverse Dynamics”, Elsevier, Robotics and Autonomous Systems, vol. 63, no. 1, 150-157, Jan, 2015
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M. A. Giese and G. Rizzolatti – Neural and Computational Mechanisms of Action Processing: Interaction between Visual and Motor Representations, Cell Press, Neuron, vol. 88, no. 1, 167-180, Oct, 2015
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H. Goldberg, A. Christensen, T. Flash, M. A. Giese and R. Malach – Brain activity correlates with emotional perception induced by dynamic avatars, Elsevier, NeuroImage, vol. 122, 306-317, Jul, 2015
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C. Latella, N. Kuppuswamy, F. Romano, S. Traversaro and F. Nori – Whole-Body Human Inverse Dynamics with Distributed Micro-Accelerometers, Gyros and Force Sensing, MDPI, Sensors, vol. 16, no. 5, 727, Nov, 2015
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J. P. Laumond, M. Benallegue, J. Carpentier and A. Berthoz – The Yoyo-Man, International Symposium on Robotics Research (ISRR 2015), 2015
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A. Mukovskiy, W. M. Land, T. Schack and M. A. Giese – Modeling of predictive human movement coordination patterns for applications in computer graphics, Journal of WSCG, vol. 23, no. 2, 139-146, Jun, 2015
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F. Nori, S. Traversaro, J. Eljaik, F. Romano, A. Del Prete and D. Pucci – iCub whole-body control through force regulation on rigid non-coplanar contacts, Frontiers IN, Frontiers in Robotics and AI, vol. 2, 6, Mar, 2015
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D. Pucci, F. Romano and F. Nori – Collocated Adaptive Control of Underactuated Mechanical Systems, IEEE, IEEE Transactions on Robotics, IEEE Transactions on Robotics, vol. 31, no. 6, 1527-1536, Oct, 2015
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L. Sacheli, A. Christensen, M. A. Giese, N. Taubert, E. F. Pavone, S. M. Aglioti and M. Candidi – Prejudiced interactions: implicit racial bias reduces predictive simulation during joint action with an out-group avatar, Scientific Reports, vol. 5, no. 8507, 8507, Feb, 2015
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M. Sreenivasa, K. Mombaur and J. P. Laumond – Walking Paths to and from a Goal Differ: On the Role of Bearing Angle in the Formation of Human Locomotion Paths, Plos one, vol. 10, no. 4, Apr, 2015
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D. Torricelli, G. Vargas, J. Eduardo, J. Veneman, K. Mombaur, N. Tsagarakis, A. J. del-Ama, A. Gil-Agudo, J. C. Moreno and J. L. Pons – Benchmarking bipedal locomotion in humanoids, wearable robots and humans: a unified scheme, IEEE Robotics and Automation Magazine, vol. 22, no. 3, 103-115, Sep, 2015
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M. R. Tucker, J. Olivier, A. Pagel, H. Bleuler, M. Bouri, O. Lambercy, J. del R. Millan, R. Riener, H. Vallery and R. Gassert – Control Strategies for Active Lower Extremity Prosthetics and Orthotics: A Review, Journal of NeuroEngineering and Rehabilitation, vol. 12, no. 1, 1, 2015
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W. J. Wolfslag, M.C. Plooij, W. Caarls, S. van Weperen and G.A.D. Lopes – Dissipatively actuated manipulation, in Control Engineering Practice, Control Engineering Practice, vol. 34, no. 1, 68-76, Jan, 2015, in press
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J. Vaillant, K. Bouyarmane and A. Kheddar – Multi-Character Physical and Behavioral Interactions Controller, IEEE Transactions on Visualization and Computer Graphics, 2015, conditionally accepted
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E. Dayan, I. Stella, A. Mukovskiy, Y. Douek, M. A. Giese, R. Malach and T. Flash – The Default Mode Network Differentiates Biological From Non-Biological Motion, Oxford Journals, Cereb. Cortex, vol. 26, no. 1, 234-245, Sep, 2014
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K. Mombaur, A. Kheddar, K. Harada, T. Buschmann and C. Atkeson – TC Spotlight: Model-based Optimization for Robotics, IEEE Robotics and Automation Magazine, Sep, 2014
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K. Mombaur, K. H. Koch and M. L. Felis – Model-based optimization for robotics, Journal of the Robotics Society of Japan, vol. 32, no. 6, Jul, 2014
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O. Ramos, M. Garcia, N. Mansard, O. Stasse, J. B. Hayet and P. Souères – Towards reactive vision-guided walking on rough terrain: an inverse dynamic based approach, International Journal of Humanoid Robotics (IJHR), vol. 11, 1441004-1441026, 2014
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O. Ramos, N. Mansard, O. Stasse, C. Benazeth, S. Hak and L. Saab – Dynamic Whole Body Motion Generation for the Dance of a Humanoid Robot, IEEE Robotics and Automation Magazine, 2014
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N. Vahrenkamp and T. Asfour – Representing the robot’s workspace through constrained manipulability analysis, Autonomous Robots, 2014
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D. M. Endres, E. Chiovetto and M. A. Giese – Model selection for the extraction of movement primitives, Frontiers Media, Frontiers in Computational Neuroscience, vol. 7, 185, Dec, 2013
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Book Chapters

K. Mombaur – Wie viel Intelligenz steckt in der Mechanik unseres Körpers? Passiv-dynamische Roboter, menschliche Bewegungsstudien, mathematsche Modelle und Kleists Marionettentheater, de Gruyther, Verkörperung. Eine neue interdisziplinäre Theologie, 2017
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M. Sreenivasa, J. P. Laumond, K. Mombaur and Berthoz A. – Principles underlying locomotor trajectory, (editors: A. Goswami and P. Vadakkepat) Springer, Humanoid Robotics – A Reference, 2017
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K. Mombaur and D. Clever – Inverse optimal control as a tool to understand human movement, (editors: J.-P. Laumond, N. Mansard, J.-B. Lasserre) Springer, Geometric and Numerical Foundations of Movements, Springer STAR Series, 2016
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K. Mombaur – Optimization as guiding principle of locomotion, (editors: M. Sharbafi and A. Seyfarth) Elsevier, Bio-inspired legged locomotion concepts, control and implementation, 2016
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A. Mukovskiy, N. Taubert, D. Endres, C. Vassallo, M. Naveau, O. Stasse, P. Souères and Giese M.A. – Modeling of coordinated human body motion by learning of structured dynamic representations, (editors: J.P. et al. Laumond) Springer, Geometric and Numerical Foundations of Movements, Springer STAR Series, Nov, 2016
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M. Schemschat, D. Clever, M. Millard and K. Mombaur – Model-based optimization for the design of exoskeletons that help humans to sustain large pushes while walking, Springer, International Conference on Neurorehabilitation (ICNR 2016), 821-825, Oct, 2016
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D. M. Endres, E. Chiovetto and M. A. Giese – Bayesian approaches for learning of primitive-based compact representations of complex human activities, (editors: Abe N. Laumonde JP) Springer, Dance Notations and Robot Motion, vol. 111, 117-137, 2015
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M. A. Giese – Biological and Body Motion Perception, (editors: J. Wagemans) Oxford University Press, The Oxford Handbook of Perceptual Organization, Aug, 2015
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K. Mombaur – Das Wunder der Bewegung – Gehen wie ein Mensch, Forschungsmagazin Ruperto Carola, no. 6, 58-65, Jun, 2015
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K. Mombaur – Optimal Control for Applications in Medical and Rehabilitation Technology – Challenges and Solutions, Springer, Post-conference book of French-German-Polish Conference on Optimization, 2015
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D. Clever and K. Mombaur – On the Relevance of Common Humanoid Gait Generation Strategies in Human Locomotion – An Inverse Optimal Control Approach, (editors: H.G. Bock, X.P. Hoang, R. Rannacher and J. P. Schlöder) Springer, Modeling, Simulation and Optimization of Complex Processes (HPSC 2015), 12, 2015, to appear
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M. A. Giese – Skeleton model for the neurodynamics of visual action representations, Springer, Lecture Notes in Computer Science, Artificial Neural Networks and Machine Learning – ICANN 2014, Lecture Notes in Computer Science, vol. 8681, no. 8681, 707-714, Sep, 2014
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Conference Proceedings

K. Mombaur, D. Clever and A. Schubert – Benchmarking data for human walking in different scenarios, Springer, International Symposium on Wearable Robotics, Wearable Robotics: Challenges and Trends, 231-234, 2017
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I. Koryakovskiy, H. Vallery, R. Babuska and W. Caarls – Evaluation of physical damage associated with action selection strategies in reinforcement learning, IFAC, IFAC World Congress (IFAC WC 2017), Jul, 2017, submitted
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T. Abuhashim and L. Natale – Robustness in View-Graph SLAM, IEEE, 19th International Conference on Information Fusion (FUSION 2016), 942-949, Jul, 2016
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R. Camoriano, S. Traversaro, L. Rosasco, G. Metta and F. Nori – Incremental Semiparametric Inverse Dynamics Learning, IEEE, IEEE International Conference on Robotics and Automation (ICRA 2016), 544-550, May, 2016
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J. Carpentier, S. Tonneau, M. Naveau, O. Stasse and N. Mansard – A Versatile and Efficient Pattern Generator for Generalized Legged Locomotion, IEEE, IEEE International Conference on Robotics And Automation (ICRA 2016), 3555-3561, May, 2016
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M. Charbonneau, F. Nori and D. Pucci – On-line Joint Limit Avoidance for Torque Controlled Robots by Joint Space Parametrization, IEEE, IEEE/RAS International Conference on Humanoid Robots (Humanoids 2016), Nov, 2016
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D. Clever and K. Mombaur – An Inverse Optimal Control Approach for the Transfer of Human Walking Motions in Constrained Environment to Humanoid Robots, Robotics: Science and Systems, Jun, 2016
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D. Clever, R.M. Schemschat, M.L. Felis and K. Mombaur – Inverse optimal control based identification of optimality criteria in whole-body human walking on level ground, IEEE, IEEE/RAS/EMBS International Cenference on Biomedical Robotics and Biomechatronics (BioRob 2016), 1192-1199, Jun, 2016
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S. Dafarra, F. Romano and F. Nori – Torque-Controlled Stepping-Strategy Push Recovery: Design and Implementation on the iCub Humanoid Robot, IEEE, IEEE/RAS International Conference on Humanoid Robots (Humanoids 2016), Nov, 2016
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G. De Magistris, A. Pajon, S. Miossec and A. Kheddar – Humanoid walking with compliant soles using a deformation estimator, IEEE, IEEE International Conference on Robotics and Automation (ICRA 2016), 6, May, 2016
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D.S. Feirstein, I. Koryakovskiy, J. Kober and H. Vallery – Reinforcement Learning of Potential Fields to achieve Limit-Cycle Walking, IFAC, IFAC Workshop on Periodic Control Systems (PSYCO 2016), 113-118, Jul, 2016
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M. L. Felis and K. Mombaur – Synthesis of Full-Body 3-D Human Gait using Optimal Control Methods, IEEE, IEEE International Conference on Robotics and Automation (ICRA 2016), 1560-1566, May, 2016
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C. Goldbeck, L. Kaul, N. Vahrenkamp, F. Wörgötter, T. Asfour and J.-M. Braun – Two Ways of Walking: Contrasting a Reflexive Neuro-Controller and a LIP-Based ZMP-Controller on the Humanoid Robot ARMAR-4, IEEE, IEEE/RAS International Conference on Humanoid Robots (Humanoids 2016), 2016
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N. Guedelha, N. Kuppuswamy, S. Traversaro and F. Nori – Self-calibration of Joint Offsets for Humanoid Robots Using Accelerometer Measurements, IEEE, IEEE/RAS International Conference on Humanoid Robots (Humanoids 2016), Nov, 2016
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Y. Hu and K. Mombaur – Analysis of human leg joints compliance in different walking scenarios with an optimal control approach, IFAC, IFAC International Workshop on Periodic Control Systems (PSYCO 2016), 6th IFAC Workshop on Periodic Control Systems (PSYCO 2016), vol. 14, no. 49, 99-106, Jun, 2016
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Y. Hu, F. Nori and K. Mombaur – Squat Motion Generation for the Humanoid Robot iCub with Series Elastic Actuators, IEEE, IEEE/RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob 2016), 207-202, Jul, 2016
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M. Karklinsky, M. Naveau, A. Mukovskiy, O. Stasse, T. Flash and P. Souères – Robust human-inspired power law trajectories for humanoid HRP-2 robot, IEEE, IEEE/RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob 2016), 106-113, Jun, 2016
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L. Kaul and T. Asfour – Human Push-Recovery: Strategy Selection Based on Push Intensity Estimation, IEEE International Symposium on Robotics (ISR 2016), 547-554, 2016
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C. Mandery, J. Borràs, M. Jöchner and T. Asfour – Using Language Models to Generate Whole-Body Multi-Contact Motions, IEEE, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2016), 5411-5418, Oct, 2016
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C. Mandery, M. Plappert, J. Borràs and T. Asfour – Dimensionality Reduction for Whole-Body Human Motion Recognition, International Conference on Information Fusion (FUSION 2016), 355-362, Jul, 2016
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K. Mombaur, C. J. Gonzalez and M. L. Felis – Towards a Better Understanding of Stability in Human Walking Using Model-Based Optimal Control and Experimental Data, International Conference on Neurorehabilitation (ICNR 2016), Oct, 2016
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G. Nava, F. Romano, F. Nori and D. Pucci – Stability Analysis and Design of Momentum-based Controllers for Humanoid Robots, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2016), Oct, 2016
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A. Pajon*, E. Chiovetto*, C. Monaghan, M. A. Giese and A. Kheddar – Adaptation of walking ground reaction forces to changes in ground stiffness properties, IEEE, IEEE/RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob 2016), 1313-1318, Jun, 2016
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I.G. Ramirez-Alpizar, M. Naveau, C. Benazeth, O. Stasse, J.-P. Laumond, K. Harada and E. Yoshida – Motion Generation for Pulling a Fire Hose by a Humanoid Robot, IEEE/RAS International Conference on Humanoid Robots (Humanoids 2016), Nov, 2016
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F. Romano, N. Kuppuswamy, M. Ciocca, S. Traversaro and F. Nori – Stable bipedal foot planting on uneven terrain through optimal ankle impedance, IEEE, IEEE/RAS International Conference on Humanoid Robots (Humanoids 2016), Nov, 2016
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A. Roncone, U. Pattacini, G. Metta and L. Natale – Cartesian 6-DoF gaze controller for humanoid robots, Robotics:Science and Systems, Jun, 2016
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M. Schemschat, D. Clever, M. L. Felis and K. Mombaur – Optimal Push Recovery for Periodic Walking Motions, Elsevier, IFAC International Workshop on Periodic Control Systems (PSYCO 2016), vol. 49, no. 14, 93-98, Jun, 2016
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M. Schemschat, D. Clever, M.L. Felis, E. Chiovetto, M.A. Giese and K. Mombaur – Joint Torque Analysis of Push Recovery Motions during Human Walking, IEEE/RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob 2016), 133-139, Jun, 2016
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M. Schemschat, D. Clever and K. Mombaur – Optimization based analysis of push recovery during walking motions to support the design of lower-limb exoskeletons, IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SimPar 2016), Dec, 2016
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J. Steinbring, C. Mandery, F. Pfaff, F. Faion, T. Asfour and U.D. Hanebeck – Real-Time Whole-Body Human Motion Tracking Based on Unlabeled Markers, IEEE, IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI 2016), 607-614, Sep, 2016
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S. Traversaro, S. Brosette, A. Escande and F. Nori – Identification of Fully Physical Consistent Inertial Parameters using Optimization on Manifolds, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2016), Oct, 2016
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Y. Hu, J. Eljaik, K. Stein, F. Nori and K. Mombaur – Walking of the iCub humanoid robot in different scenarios: implementation and performance analysis, IEEE, IEEE/RAS International Conference on Humanoid Robots (Humanoids 2016), 2016, accepted
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T. Asfour, J. Borràs, C. Mandery, P. Kaiser, E.E. Aksoy and M. Grotz – On the dualities between grasping and whole-body loco-manipulation tasks, International Symposium on Robotics Research (ISRR), 2015
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J. Carpentier, A. Del Prete, N. Mansard and J. P. Laumond – An analytical model of rolling contact and its application to the modeling of bipedal locomotion, IMA, IMA Conference on Mathematics of Robotics, Sep, 2015
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D. Clever and K. Mombaur – On the Relevance of Common Humanoid Gait Generation Strategies in Human Locomotion – An Inverse Optimal Control Approach, High Performance Scientific Computing (HPSC 2015) (Abstract), Mar, 2015
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B. Costa, W. Caarls and D.S. Menasche – Dyna-MLAC: Trading Computational and Sample Complexities in Actor-Critic Reinforcement Learning, IEEE, Brazilian Conference on Intelligent Systems, 1-6, Nov, 2015
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J. Eljaik, N. Kuppuswamy and F. Nori – Multimodal sensor fusion for foot state estimation in bipedal robots using the extended kalman filter, IEEE, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2015), 2698-2704, Oct, 2015
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J. Eljaik, N. Kuppuswamy, D. Pucci and F. Nori – Enhanced torque-controlled balancing through multimodal sensor fusion based on an Extended Kalman Filter, Dynamic Walking Conference 2015 (Abstract), Jul, 2015
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M. L. Felis, K. Mombaur and A. Berthoz – An Optimal Control Approach to Reconstruct Human Gait Dynamics from Kinematic Data, IEEE, IEEE/RAS International Conference on Humanoid Robots (Humanoids 2015), 1044-1051, Nov, 2015
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Y. Hu, K. Mombaur and F. Nori – Using optimal control to generate squat motions for the humanoid robot iCub with SEA, Dynamic Walking Conference 2015 (Extended Abstract), Jul, 2015
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K. H. Koch, D. Clever, K. Mombaur and D. M. Endres – Learning Movement Primitives from Optimal and Dynamically Feasible Trajectories for Humanoid Walking, IEEE, IEEE/RAS International Conference on Humanoid Robots (Humanoids 2015), 866-873, Nov, 2015
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A. Koenemann, A. Del Prete, Y. Tassa, E. Todorov, O. Stasse, M. Bennewitz and N. Mansard – Experiments with MuJoCo on HRP-2, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2015), 2015
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M. Kudruss, M. Naveau, O. Stasse, N. Mansard, C. Kirches, P. Souères and K. Mombaur – Optimal Control for Whole-Body Motion Generation using Center-of-Mass Dynamics for Predefined Multi-Contact Configurations, IEEE, IEEE/RAS International Conference on Humanoid Robots (Humanoids 2015), 684-689, Nov, 2015
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C. Mandery, J. Borràs, M. Jöchner and T. Asfour – Analyzing Whole-Body Pose Transitions in Multi-Contact Motions, IEEE, IEEE/RAS International Conference on Humanoid Robots (Humanoids 2015), 1020-1027, Nov, 2015
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C. Mandery, Ö. Terlemez, M. Do, N. Vahrenkamp and T. Asfour – The KIT Whole-Body Human Motion Database, IEEE, IEEE International Conference on Advanced Robotics (ICAR 2015), 329-336, Jul, 2015
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F. Nori, N. Kuppuswamy and S. Traversaro – Simultaneous state and dynamics estimation in articulated structures, IEEE, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2015), 3380-3386, Oct, 2015
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A. Orthey, O. Stasse and F. Lamiraux – Motion Planning and Irreducible Trajectories, IEEE International Conference on Robotics and Automation (ICRA 2015), 2015
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A. Paikan, D. Schiebener, M. Wacther, T. Asfour, G. Metta and L. Natale – Transferring Object Grasping Knowledge and Skill Across Different Robotic Platforms, IEEE, IEEE International Conference on Advanced Robotics (ICAR 2014), 498-503, 2015
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A. Pajon, G. De Magistris, S. Miossec, K. Kaneko and A. Kheddar – A humanoid walking pattern generator for sole design optimization, IEEE, IEEE International Conference on Advanced Robotics (ICAR 2015), 105-110, Jul, 2015
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F. Romano, A. Del Prete, N. Mansard and F. Nori – Prioritized Optimal Control: a Hierarchical Differential Dynamic Programming approach, IEEE, IEEE International Conference on Robotics and Automation (ICRA 2015), 3590-3595, May, 2015
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M. Schemschat, D. Clever and K. Mombaur – Analysis of Human Push Recovery based on Mathematical Models, High Performance Scientific Computing (HPSC 2015) (Abstract), Mar, 2015
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S. Traversaro, A. Del Prete, S. Ivaldi and F. Nori – Inertial parameters identification and joint torques estimation with proximal force/torque sensing, IEEE, IEEE International Conference on Robotics and Automation (ICRA 2015), 6, May, 2015
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S. Traversaro, D. Pucci and F. Nori – In Situ Calibration of Six-Axis Force-Torque Sensors using Accelerometer Measurements, IEEE, IEEE International Conference on Robotics and Automation (ICRA 2015), 2111-2116, May, 2015
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N. Vahrenkamp, D. Muth, P. Kaiser and T. Asfour – IK-MAP: An Enhanced Workspace Representation to Support Inverse Kinematics Solvers, IEEE/RAS International Conference on Humanoid Robots (Humanoids 2015), 785-790, 2015
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J.O. Van Der Weijde, E. Vlasblom, P. Dobbe, H. Vallery and M. Fritschi – Force Sensing for Compliant Actuators Using Coil Spring Inductance, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2015), 2015
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J. Vaillant, A. Kheddar, H. Audren, F. Keith, S. Brossette, A. Escande, K. Kaneko, M. Morisawa, P. Gergondet, E. Yoshida, S. Kajita and F. Kanehiro – Multi-contact Vertical ladder climbing with HRP-2 humanoid, Autonomous Robots, 2015, conditionally accepted
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D. Velychko and D. M. Endres – The Variational Coupled Gaussian Process Dynamical Model, AABI Workshop at the Neural Information Processing Systems Conference (NIPS 2015), 2015, accepted
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H. Audren, J. Vaillant, A. Kheddar, A. Escande, K. Kaneko and E. Yoshida – Model Preview Control in Multi-Contact Motion-Application to a Humanoid Robot, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2014), 4030-4035, Sep, 2014
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M. Benallegue and F. Lamiraux – Humanoid Flexibility Deformation Can Be Efficiently Estimated Using Only Inertial Measurement Units and Contact Information, IEEE, IEEE/RAS International Conference on Humanoid Robots (Humanoids 2014), Nov, 2014
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M. Bharatheesha, W. Caarls, W. Wolfslag and M. Wisse – Distance Metric Approximation for State-Space RRTs using Supervised Learning, IEEE, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2014), 252-257, Sep, 2014
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S. Brossette, A. Escande, J. Vaillant, F. Keith, T. Moulard and A. Kheddar – Integration of non-inclusive contacts in posture generation, IEEE, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2014), 933-938, Sep, 2014
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C. Ciliberto, L. Fiorio, M. Maggiali, L. Natale, L. Rosasco, G. Metta, G. Sandini and F. Nori – Exploiting global force torque measurements for local compliance estimation in tactile arrays, IEEE, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2014), 3994-3999, Sep, 2014
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D. Clever, K. Hatz and K. Mombaur – Studying Dynamical Principles of Human Locomotion using Inverse Optimal Control, Wiley, GAMM Annual Scientific Conference (GAMM 2014), 801-802, Feb, 2014
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D. Clever and K. Mombaur – A new template model for optimization studies of human walking on different terrains, IEEE, IEEE/RAS International Conference on Humanoid Robots (Humanoids 2014), 500-505, Nov, 2014
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A. Del Prete, N. Mansard, F. Nori, G. Metta and Natale L. – Partial Force Control of Constrained Floating-Base Robots, IEEE, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2014), 3590-3595, Oct, 2014
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A. Del Prete, F. Romano, L. Natale, G. Metta, G. Sandini and F. Nori – Prioritized Optimal Control, IEEE, IEEE International Conference on Robotics and Automation (ICRA 2014), 3590-3595, May, 2014
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L. Fiorio, F. Romano, A. Parmiggiani, G. Sandini and F. Nori – Stiction Compensation in Agonist-Antagonist Variable Stiffness Actuators, Robotics: Science and Systems (RSS 2014), 2014
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M. Fritschi, H.F. Jelinek, T. McGloughlin, K. Khalaf, A.H. Khandoker and H. Vallery – Human balance responses to perturbations in the horizontal plane, IEEE, International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC 2014), 1-4, Aug, 2014
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P. Geoffroy, N. Bordron, N. Mansard, O. Stasse, T. Bretl and M. Raison – A two-stage suboptimal approximation for variable compliance and torque control, IEEE, European Control Conference (ECC 2014), 1151-1157, Jun, 2014
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D. Gonzalez-Aguirre, M. Vollert, T. Asfour and R. Dillmann – Robust Real-time 6D Active-visual Localization for Humanoid Robots, IEEE, IEEE International Conference on Robotics and Automation (ICRA 2014), 2785-2791, Jun, 2014
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M. Horn, M. Sreenivasa and K. Mombaur – Optimization model of the predictive head direction for humanoid robots, IEEE, IEEE/RAS International Conference on Humanoid Robots (Humanoids 2014), 767-772, Nov, 2014
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Y. Hu, M. L. Felis and K. Mombaur – Compliance analysis of human leg joints in level ground walking with an optimal control approach, IEEE, IEEE/RAS International Conference on Humanoid Robots (Humanoids 2014), 881-886, Nov, 2014
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K. H. Koch, K. Mombaur, O. Stasse and P. Souères – Optimization based exploitation of the ankle elasticity of HRP-2 for overstepping large obstacles, IEEE/RAS International Conference on Humanoid Robots (Humanoids 2014), 2014
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D. Lemus and H. Vallery – Towards Gyroscopic Balance Assistance: Proof of Concept, IEEE, International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC 2014), 1, Aug, 2014
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K. Mombaur – An optimizaton-based study of compliance in human running, Dynamic Walking Conference 2014 (Extended abstract), Jun, 2014
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M. Naveau, J. Carpentier, S. Bathelemy, O. Stasse and P. Souères – METAPOD – Template META-PrOgramming applied to Dynamics: CoP-CoM trajectories filtering, IEEE/RAS International Conference on Humanoid Robots (Humanoids 2014), 2014
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O. Ramos, N. Mansard and P. Souères – Whole-body Motion Integrating the Capture Point in the Operational Space Inverse Dynamics Control, IEEE/RAS International Conference on Humanoid Robots (Humanoids 2014), 2014
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F. Romano, L. Fiorio, G. Sandini and F. Nori – Control of a two-DOF manipulator equipped with a pnr- Variable Stiffness Actuator, IEEE, IEEE Multi-Conference on Systems and Control (MSC 2014), 1354-1359, Oct, 2014
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A. Roncone, U. Pattacini, G. Metta and L. Natale – Gaze Stabilization for Humanoid Robots: a Comprehensive Framework, IEEE, IEEE/RAS International Conference on Humanoid Robots (Humanoids 2014), 259-264, Nov, 2014
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A. Schubert, D. Clever and K. Mombaur – Key performance indicators for humanoid walking motions defined in the KoroiBot project, International Workshop on Wearable Robotics (WeRob 2014), 2014
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Ö. Terlemez, S. Ulbrich, C. Mandery, M. Do, N. Vahrenkamp and T. Asfour – Master Motor Map (MMM) – Framework and Toolkit for Capturing, Representing, and Reproducing Human Motion on Humanoid Robots, IEEE/RAS International Conference on Humanoid Robots (Humanoids 2014), 894-901, 2014
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J. Vaillant, A. Kheddar, H. Audren, F. Keith, K. Kaneko, M. Morisawa, E. Yoshida and F. Kanehiro – Vertical ladder climbing by the HRP-2 humanoid robot, IEEE/RAS International Conference on Humanoid Robots (Humanoids 2014), 671-676, 2014
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D. Velychko, D. M. Endres, N. Taubert and M. A. Giese – Coupling Gaussian Process Dynamical Models with Product-of-Experts Kernels., Springer, International Conference on Artificial Neural Networks, (ICANN 2014), Lecture Notes in Computer Science, vol. 8681, 603-610, Sep, 2014
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M. Benallegue, J. P. Laumond and A. Berthoz – A head-neck-system to walk without thinking, Plos one, 2014, submitted
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Theses

N. Arkind – Redundancy Resolution of human arm movements, 2016
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M. Brinkmann – Transfer menschlicher Laufbewegungen auf Modelle humanoider Roboter mithilfe mathematischer Optimierung, Sep, 2016
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D.S. Feirstein – Reinforcement Learning of Potential Fields to achieve Limit-Cycle Walking, Apr, 2016
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C. Goldbeck – Reflex and Model-based Approaches for Dynamic Walking of Humanoid Robots, 2016
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M. Karklinsky – Timing and geometry of planning and execution of human movements, 2016
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O. Koren – Human planning and control of real-time robotic arm movements, 2016
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M. Naveau – Advanced human inspired walking strategies for humanoid robots, Sep, 2016
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K. Stein – Walking Control Framework for the Humanoid Robot HeiCub: Implementation and Experimental Validation, Dec, 2016
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Ö. Terlemez – Referenzmodell des menschlichen Körpers zur Generierung und zum Transfer menschlicher Bewegungen auf humanoide Roboter, 2016
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R. Van Der Wijden – Preference-driven demonstration ranking for inverse reinforcement learning, Jul, 2016
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C. Vassallo – Human-inspired models for guiding robot locomotion, Oct, 2016
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M. L. Felis – Modeling Emotional Aspects in Human Locomotion, 2015
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M. Harant – Modellierung und Optimierung von Push-Recovery Bewegungen von humanoiden Robotern, 2015
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K. H. Koch – Using Model-based Optimal Control for Conceptional Motion Generation for the Humannoid Robot HRP-2 14 and Design Investigations for Exo-Skeleton, Jun, 2015
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D. Kohen – The building blocks of curved trajectories: Studying the effect of shortened preparation time on movement planning and execution, 2014
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Y. Meirovitch – Movement decomposition and compositionality based on geometric and kinematic principles, 2014
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J.O. Van Der Weijde – Control Design for Robust Limit-Cycle Walking, 2014
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E. Vlasblom – Nonlinear State Estimation for a Bipedal Robot, 2014
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Technical Report

C. Mandery, Ö. Terlemez, N. Vahrenkamp and T. Asfour – How-To: Master Motor Map & Motion Database, 2014
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C. Mandery, Ö. Terlemez, N. Vahrenkamp and T. Asfour – The Koroibot Markerset, 2014
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Ö. Terlemez, S. Ulbrich, C. Mandery, N. Vahrenkamp and T. Asfour – Creating MMM Objects with Blender and the RobotEditor plugin, 2014
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Misc

C. Freiberger – Humanoid Push Recovery by Stepping into Capture Point using Dynamic Movement Primitives, 2016
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